Autonomous driving control device and autonomous driving path computation method

Abstract

An autonomous driving control device and an autonomous driving path computation method capable of computing a driving path without extremely changing a movement of a steering wheel during autonomous driving. A parking control device computes a parking path for automatically parking a vehicle, and includes an acceleration section transition curve computing unit that computes an acceleration section transition curve based on a target steering speed set in advance and an acceleration section target vehicle speed, a deceleration section transition curve computing unit that computes a deceleration section transition curve based on the target steering speed and a deceleration target vehicle speed, and a parking path computing unit that computes a parking path using the acceleration section transition curve and the deceleration section transition curve. The parking path is computed by setting the deceleration section target vehicle speed faster than the acceleration section target vehicle speed.

What is claimed is: 
     
       1. An autonomous driving control device for computing and executing a driving path along which a vehicle is driven autonomously, comprising:
 one or more processors and one or more non-transitory computer-readable storage media, the non-transitory computer-readable storage media having stored thereon at least an acceleration section transition curve computing unit and a deceleration section transition curve computing unit; 
 the acceleration section transition curve computing unit configured to compute an acceleration section transition curve on the basis of a target steering speed set in advance and an acceleration section travel distance; and 
 the deceleration section transition curve computing unit configured to compute a deceleration section transition curve on the basis of the target steering speed and a deceleration section travel distance, 
 wherein: 
 a driving path is computed by setting the deceleration section travel distance to be shorter than the acceleration section travel distance and the non-transitory computer-readable storage media having further stored thereon instructions for executing the driving path. 
 
     
     
       2. The autonomous driving control device according to  claim 1 , further comprising the non-transitory computer-readable storage media having stored thereon:
 a candidate connection position setting unit configured to compute a movement path for moving the vehicle from a target vehicle position using the deceleration section transition curve, and set a candidate connection position on the movement path using the acceleration section transition curve; 
 a connection path computing unit configured to compute a connection path that allows the vehicle to reach the candidate connection position from an initial position of the vehicle using the acceleration section transition curve and the deceleration section transition curve; and 
 a driving path generating unit configured to generate the driving path by connecting the movement path and the connection path. 
 
     
     
       3. The autonomous driving control device according to  claim 2 ,
 wherein: 
 the driving path includes an arc-shaped curve, and 
 a minimum turning radius of the vehicle is set as a radius of curvature of the arc-shaped curve. 
 
     
     
       4. The autonomous driving control device according to  claim 2 ,
 wherein: 
 the connection path computing unit is configured to
 compute a reference curve including the acceleration section transition curve and the deceleration section transition curve on the basis of a relative angle between a vehicle orientation at a position of the vehicle and a vehicle orientation at the candidate connection position, 
 compute a magnified curve by, on a coordinate system having a position of the vehicle as an origin, magnifying and deforming the reference curve through a similarity transformation on the basis of a ratio of a distance in a horizontal axis direction from the position of the vehicle to the candidate connection position to a distance in the horizontal axis direction of the reference curve, and 
 compute the connection path using the magnified curve. 
 
 
     
     
       5. The autonomous driving control device according to  claim 2 , wherein regarding the acceleration section transition curve and the deceleration section transition curve included in the connection path, a length of the deceleration section transition curve is shorter than that of the acceleration section transition curve. 
     
     
       6. The autonomous driving control device according to  claim 2 , wherein regarding the acceleration section transition curve and the deceleration section transition curve included in the movement path, a length of the deceleration section transition curve is shorter than that of the acceleration section transition curve. 
     
     
       7. An autonomous driving path computation method for computing and executing a driving path including an acceleration section transition curve and a deceleration section transition curve, the method comprising:
 computing an acceleration section transition curve on the basis of a target steering speed set in advance and an acceleration section travel distance, and 
 computing a deceleration section transition curve on the basis of the target steering speed and a deceleration section travel distance that is set shorter than the acceleration section travel distance; and 
 executing the driving path. 
 
     
     
       8. The autonomous driving path computation method according to  claim 7 , comprising:
 a first step of computing a movement path for moving the vehicle from a target vehicle position; 
 a second step of computing a connection path that connects an initial position of the vehicle to a candidate connection position set on the movement path; and 
 a third step of computing a driving path for moving the vehicle from the initial position of the vehicle to the target vehicle position using the movement path and the connection path, 
 wherein: 
 the first step includes computing the movement path using the acceleration section transition curve, the deceleration section transition curve, and an arc-shaped curve. 
 
     
     
       9. The autonomous driving path computation method according to  claim 8 , wherein the first step includes changing a length of the arc-shaped curve to set a plurality of candidate connection positions on the movement path. 
     
     
       10. The autonomous driving path computation method according to  claim 8 , wherein the second step includes computing a reference curve using the acceleration section transition curve, the deceleration section transition curve, and the arc-shaped curve, magnifying and deforming the reference curve through a similarity transformation, and using the magnified, deformed reference curve as a part of the connection path. 
     
     
       11. An autonomous driving control device for computing and executing a driving path along which a vehicle is driven autonomously, comprising:
 one or more processors and one or more non-transitory computer-readable storage media, the non-transitory computer-readable storage media having stored thereon at least an acceleration section transition curve computing unit, a deceleration section transition curve computing unit, a candidate connection position setting unit, a connection path computing unit and a driving path generating unit; 
 the acceleration section transition curve computing unit configured to compute an acceleration section transition curve on the basis of a target steering speed set in advance and an acceleration section travel distance; and 
 the deceleration section transition curve computing unit configured to compute a deceleration section transition curve on the basis of the target steering speed and a deceleration section travel distance; 
 the candidate connection position setting unit configured to compute a movement path for moving the vehicle from a target vehicle position using the deceleration section transition curve, and set a candidate connection position on the movement path using the acceleration section transition curve; 
 the connection path computing unit configured to compute a connection path that allows the vehicle to reach the candidate connection position from an initial position of the vehicle using the acceleration section transition curve and the deceleration section transition curve; and 
 the driving path generating unit configured to generate the driving path by connecting the movement path and the connection path, 
 wherein: 
 a driving path is computed by setting the deceleration section travel distance speed to be shorter than the acceleration section travel distance; 
 wherein regarding the acceleration section transition curve and the deceleration section transition curve included in the connection path or the movement path, a length of the deceleration section transition curve is shorter than that of the acceleration section transition curve and the non-transitory computer-readable storage media having further stored thereon instructions for executing the driving path.